#ifndef SIMPLE_TURTLESIM_KINEMASTICS_HPP 
#define SIMPLE_TURTLESIM_KINEMASTICS_HPP

#include <rclcpp/rclcpp.hpp>
#include <turtlesim/msg/pose.hpp>


class SimpleTurtlesimKinematics: public rclcpp::Node
{
public:
  SimpleTurtlesimKinematics(const std::string &name);

private:
  void turtle1PoseCallback(const turtlesim::msg::Pose &pose);

  void turtle2PoseCallback(const turtlesim::msg::Pose &pose);

  rclcpp::Subscription<turtlesim::msg::Pose>::SharedPtr turtle1_pose_sub_;
  rclcpp::Subscription<turtlesim::msg::Pose>::SharedPtr turtle2_pose_sub_;
  turtlesim::msg::Pose last_turtle1_pose_;
  turtlesim::msg::Pose last_turtle2_pose_;
};

#endif